diff --git a/source/extensions/omni.isaac.lab/test/sim/check_meshes.py b/source/extensions/omni.isaac.lab/test/sim/check_meshes.py
new file mode 100644
index 0000000000..cf506ae0ec
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+++ b/source/extensions/omni.isaac.lab/test/sim/check_meshes.py
@@ -0,0 +1,168 @@
+# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""This script demonstrates different rigid and deformable meshes in the scene.
+
+It randomly spawns different types of meshes in the scene. The meshes can be rigid or deformable
+based on the probability of 0.5. The rigid meshes are spawned with rigid body and collision properties,
+while the deformable meshes are spawned with deformable body properties.
+
+.. code-block:: bash
+
+    # Usage
+    ./isaaclab.sh -p source/extensions/omni.isaac.lab/test/sim/check_meshes.py
+
+"""
+
+"""Launch Isaac Sim Simulator first."""
+
+
+import argparse
+
+from omni.isaac.lab.app import AppLauncher
+
+# create argparser
+parser = argparse.ArgumentParser(description="This script demonstrates different meshes in the scene.")
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+# parse the arguments
+args_cli = parser.parse_args()
+# launch omniverse app
+app_launcher = AppLauncher(args_cli)
+simulation_app = app_launcher.app
+
+"""Rest everything follows."""
+
+import numpy as np
+import random
+import torch
+import tqdm
+
+import omni.isaac.core.utils.prims as prim_utils
+
+import omni.isaac.lab.sim as sim_utils
+
+
+def define_origins(num_origins: int, spacing: float) -> list[list[float]]:
+    """Defines the origins of the the scene."""
+    # create tensor based on number of environments
+    env_origins = torch.zeros(num_origins, 3)
+    # create a grid of origins
+    num_cols = np.floor(np.sqrt(num_origins))
+    num_rows = np.ceil(num_origins / num_cols)
+    xx, yy = torch.meshgrid(torch.arange(num_rows), torch.arange(num_cols), indexing="xy")
+    env_origins[:, 0] = spacing * xx.flatten()[:num_origins] - spacing * (num_rows - 1) / 2
+    env_origins[:, 1] = spacing * yy.flatten()[:num_origins] - spacing * (num_cols - 1) / 2
+    env_origins[:, 2] = torch.rand(num_origins) + 1.0
+    # return the origins
+    return env_origins.tolist()
+
+
+def design_scene():
+    """Designs the scene by spawning ground plane, light, and deformable meshes."""
+    # Ground-plane
+    cfg_ground = sim_utils.GroundPlaneCfg()
+    cfg_ground.func("/World/defaultGroundPlane", cfg_ground)
+
+    # spawn distant light
+    cfg_light = sim_utils.DomeLightCfg(
+        intensity=3000.0,
+        color=(0.75, 0.75, 0.75),
+    )
+    cfg_light.func("/World/light", cfg_light)
+
+    # create new xform prims for all objects to be spawned under
+    origins = define_origins(num_origins=4, spacing=5.5)
+    for idx, origin in enumerate(origins):
+        prim_utils.create_prim(f"/World/Origin{idx:02d}", "Xform", translation=origin)
+
+    # spawn a red cone
+    cfg_sphere = sim_utils.MeshSphereCfg(
+        radius=0.25,
+        mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
+        visual_material=sim_utils.PreviewSurfaceCfg(),
+    )
+    cfg_cuboid = sim_utils.MeshCuboidCfg(
+        size=(0.2, 0.2, 0.2),
+        mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
+        visual_material=sim_utils.PreviewSurfaceCfg(),
+    )
+    cfg_cylinder = sim_utils.MeshCylinderCfg(
+        radius=0.15,
+        height=0.5,
+        mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
+        visual_material=sim_utils.PreviewSurfaceCfg(),
+    )
+    cfg_capsule = sim_utils.MeshCapsuleCfg(
+        radius=0.15,
+        height=0.5,
+        mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
+        visual_material=sim_utils.PreviewSurfaceCfg(),
+    )
+    cfg_cone = sim_utils.MeshConeCfg(
+        radius=0.15,
+        height=0.5,
+        mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
+        visual_material=sim_utils.PreviewSurfaceCfg(),
+    )
+    # create a dictionary of all the objects to be spawned
+    objects_cfg = {
+        "sphere": cfg_sphere,
+        "cuboid": cfg_cuboid,
+        "cylinder": cfg_cylinder,
+        "capsule": cfg_capsule,
+        "cone": cfg_cone,
+    }
+
+    # Create separate groups of deformable objects
+    origins = define_origins(num_origins=25, spacing=0.5)
+    print("[INFO]: Spawning objects...")
+    # Iterate over all the origins and randomly spawn objects
+    for idx, origin in tqdm.tqdm(enumerate(origins), total=len(origins)):
+        # randomly select an object to spawn
+        obj_name = random.choice(list(objects_cfg.keys()))
+        obj_cfg = objects_cfg[obj_name]
+        # randomly decide if it is rigid or deformable
+        if random.random() < 0.5:
+            obj_cfg.rigid_props = None
+            obj_cfg.collision_props = None
+            obj_cfg.deformable_props = sim_utils.DeformableBodyPropertiesCfg(rest_offset=0.0)
+        else:
+            obj_cfg.deformable_props = None
+            obj_cfg.rigid_props = sim_utils.RigidBodyPropertiesCfg()
+            obj_cfg.collision_props = sim_utils.CollisionPropertiesCfg()
+        # randomize the color
+        obj_cfg.visual_material.diffuse_color = (random.random(), random.random(), random.random())
+        # spawn the object
+        obj_cfg.func(f"/World/Origin.*/Object{idx:02d}", obj_cfg, translation=origin)
+
+
+def main():
+    """Main function."""
+    # Initialize the simulation context
+    sim_cfg = sim_utils.SimulationCfg(dt=0.01)
+    sim = sim_utils.SimulationContext(sim_cfg)
+    # Set main camera
+    sim.set_camera_view([8.0, 8.0, 6.0], [0.0, 0.0, 0.0])
+
+    # Design scene by adding assets to it
+    design_scene()
+
+    # Play the simulator
+    sim.reset()
+    # Now we are ready!
+    print("[INFO]: Setup complete...")
+
+    # Simulate physics
+    while simulation_app.is_running():
+        # perform step
+        sim.step()
+
+
+if __name__ == "__main__":
+    # run the main function
+    main()
+    # close sim app
+    simulation_app.close()